WO2017203945A1 - Workpiece gripping device and workpiece gripping method - Google Patents

Workpiece gripping device and workpiece gripping method Download PDF

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Publication number
WO2017203945A1
WO2017203945A1 PCT/JP2017/017163 JP2017017163W WO2017203945A1 WO 2017203945 A1 WO2017203945 A1 WO 2017203945A1 JP 2017017163 W JP2017017163 W JP 2017017163W WO 2017203945 A1 WO2017203945 A1 WO 2017203945A1
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Prior art keywords
workpiece
robot arm
gripper
pair
robot
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PCT/JP2017/017163
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French (fr)
Japanese (ja)
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祐輝 枝川
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アズビル株式会社
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators

Definitions

  • the present invention relates to a technology of a robot workpiece gripping device in an assembly work process.
  • Patent Document 1 There is a conventional example where a double-arm robot is used to pull out a workpiece from the work stocker, and then check if there is a positional shift by moving the robot arm and transfer it to a tray (Patent Document 1).
  • Patent Document 1 the amount of positional deviation at the time of drawing is detected by two-point contact with a double arm with a sensor, and the target position is corrected.
  • Patent Document 2 grips a component with high reproducibility even when the tray is bent when the component placed on the tray is gripped to perform precise transfer or assembly. This is because the robot body is operated so that the robot hand abuts the tray and presses the tray against the gantry, and the work placed on the tray is gripped by a plurality of fingers while the tray is pressed against the gantry. .
  • Patent Document 3 Provided is an industrial robot capable of assembling an assembling part to an assembling body as it is even when the gripping position of the robot hand is slightly deviated from the reference position of the assembling part.
  • the assembly part is gripped by the robot hand, the amount of deviation of the robot hand from the reference position of the assembly part is detected, and the position correction of the robot hand is performed based on the detected amount of deviation. Go and assemble the assembly parts to the assembly body.
  • JP 2012-196768 A Japanese Patent Laying-Open No. 2015-205368 Japanese Patent Application Laid-Open No. 07-88794
  • the tray has a placement portion on which the component is placed, and a protrusion formed to protrude from the placement portion.
  • the control portion is Since the robot body can be operated so that the hand body abuts against the protrusion and the tray is pressed against the gantry, so-called guides are provided, so it is not necessary to use a lot of nerves for gripping and positioning the workpiece. There wasn't.
  • the robot needs to be provided with a position detection device (sensor) for detecting the amount of deviation of the reference position of the assembled part in the robot hand, and the device needs to be large-scale and elaborate. is there.
  • the present invention does not require a guide or the like for gripping a workpiece from above, does not require extra steps such as once placing the workpiece on the floor and gripping the workpiece again, and requires a special position sensor. There is no problem, and it is an object to be able to efficiently assemble the work.
  • the present invention provides a first robot arm having a gripper formed of a pair of fingers at the tip,
  • a work gripping device comprising a second robot arm having a gripper made of a pair of fingers at the tip, The first robot arm grips one side of a rectangular parallelepiped workpiece with its gripper, And the second robot arm set at a position facing the first robot arm grips another opposite side surface of the workpiece orthogonal to the opposite side surface with its gripper, The workpiece slides to a position where the gripper of the first robot arm grips the center point of the workpiece by the second robot arm pinching the other opposite side with the gripper.
  • This is a workpiece gripping device.
  • the present invention further provides: Operate the first robot arm or the second robot arm, Release the workpiece from one robot arm, Move the workpiece to a predetermined placement position while holding the workpiece by the other robot arm, A workpiece gripping device to be assembled to a mounting base.
  • the present invention also includes a first robot arm having a gripper formed of a pair of fingers at the tip,
  • a work gripping method in a work gripping device comprising a second robot arm having a gripper composed of a pair of fingers at the tip, Operating the first robot arm to grip the workpiece; Facing the first robot arm and the second robot arm so that each gripper grips an orthogonal side surface of the workpiece; Clamping the workpiece with the gripper of the second robot arm, and sliding the workpiece until the gripper of the first robot arm grips the center point of the workpiece. It is.
  • the present invention can be implemented with only two robot arms, it is highly effective with a simple system. In order to always hold the center of the work, the work is moved by two robot arms and the position is corrected, so that there is no burden on the subsequent process and the tact time is short.
  • FIG. 1 shows an overall configuration of a workpiece gripping apparatus according to an embodiment of the present invention.
  • the shape of the workpiece and the side designation will be shown.
  • 3A and 3B show a workpiece pick-up mode by the gripper of the first robot arm according to the embodiment of the present invention.
  • the change mode by the grippers of the first robot arm and the second robot arm according to the embodiment of the present invention is shown.
  • 5A, FIG. 5B, and FIG. 5C are transition diagrams showing a top view (top view) of a change-over process in the first robot arm and the second robot arm shown in FIG.
  • grip method concerning embodiment of this invention is shown.
  • FIG. 1 shows an overall configuration of a workpiece gripping apparatus 100 showing an embodiment of the present invention.
  • a first robot arm 110 and a second robot arm 120 at the center.
  • a plurality of rectangular parallelepiped workpieces 10 are randomly placed on the tray 1 marked as a pickup area.
  • the place area is described, it is shown that the work is placed on the placement base 2 in an orderly manner at a predetermined position.
  • first robot arm 110 and the second robot arm 120 It is the role of the first robot arm 110 and the second robot arm 120 to move the workpiece 10 from the pickup area to the place area.
  • a gripper 111 and a gripper 121 each including at least two (a pair) fingers are provided at the tip thereof.
  • the first robot arm 110 and the second robot arm 120 are preferably composed of a robot with six axes of freedom, but the second robot arm 120 on the receiving side has a degree of freedom up to that point. Not necessary. In order to fulfill the functions of the present invention, a degree of freedom of only one axis (only gripping and gripping of the gripper) is sufficient.
  • the workpiece 10 is intended for a rectangular parallelepiped shape.
  • the front surface (Surface) 10A, the bottom surface (Bottom) 10B, and the side surfaces are referred to as 10C, 10D, 10E, and 10F in the counterclockwise direction.
  • the center point P of the workpiece 10 is imaged at the intersection of dotted lines connecting the centers of the opposing surfaces.
  • one opposite side surface (10C and 10E) is gripped by the gripper 111 of the first robot arm 110, and another opposite side surface (10D and 10F) is the gripper 121 of the second robot arm 120. It will be gripped by.
  • the edge of the surface 10A is marked with a double line in the drawing.
  • the first robot arm 110 is appropriately turned and the workpiece 10 on the tray 1 is picked up by the gripper 111.
  • one side surface (10C and 10E) of the workpiece 10 is held by the gripper 111 (finger 111-1 and 111-2).
  • the gripper 111 After lightly grasping, as shown in FIG. 3B, the work 10 is sufficiently grasped by an elastic function (not shown) that presses the gripper 111 below the work 10.
  • This elastic function means a predetermined compliance mechanism, which may be passive or active, and is naturally provided in the gripper. Therefore, further description of the function is omitted.
  • the gripping mechanism at this time uses the visual function of the robot (unillustrated vision system), and can be held almost at the center according to the orientation of the workpiece 10, but the accuracy is not sufficient for assembly work. , There is a possibility of deviation
  • FIG. 1 is a side view.
  • the central axes of the first robot arm 110 and the second robot arm 120 can be mechanically matched so as to be indicated by the one-dot chain line in FIG. Positioning is performed by a controller (not shown).
  • the second robot arm 120 grips another side surface (10D and 10F) of the workpiece 10 with the gripper 121 (finger 121-1 and 121-2).
  • the gripper 111 has already accurately grasped the center point P of the workpiece 10, the effect of the present invention is small, but conversely, the function described below is exhibited when it is not.
  • FIG. 5 shows a top view of the configuration of FIG. 4 as viewed from above.
  • the first robot arm 110 and the second robot arm 120 according to the embodiment of the present invention are shown in FIG. 5A, 5B, and 5C are transition diagrams sequentially showing a pinching process by the gripper 121 of the second robot arm 120 according to the changeover by each gripper.
  • the gripper 111 of the first robot arm 110 is gripping a position that is deviated by ⁇ from the center point P of the workpiece.
  • the opening L of both fingers 121-1 and 121-2 of the gripper 121 of the second robot arm 120 is sufficiently wide to include the long side 10C of the workpiece 10 with some margin.
  • the finger 121-1 is close to the side surface 10D, while the other finger 121-2 is considerably separated from the side surface 10F.
  • FIG. 5B in the middle stage shows a state in which the gripper 121 is gradually closed.
  • the gripper 121 is pinched with equal force from both side fingers.
  • the finger 121-1 of the gripper 121 contacts the side surface 10D of the workpiece 10.
  • One finger 121-2 approaches the other side surface 10F but is still separated.
  • FIG. 5C in the lowermost stage shows how the gripper 121 is further closed.
  • the finger 121-1 of the gripper 121 pushes and sandwiches the side surface 10D of the workpiece 10 until the other finger 121-2 contacts the side surface 10F.
  • the gripping force of the gripper 111 of the first robot arm 110 is slightly relaxed, and the workpiece 10 is slid on the inner side of the fingers 111-1 and 111-2.
  • a material with an appropriately small coefficient of friction is selected for the inner side of the finger.
  • the gripper 111 of the first robot arm 110 correctly grips the center point P of the workpiece 10 at the center of the gripper itself.
  • the gripper 121 is provided with a predetermined elastic function (compliance) like the gripper 111 so as to grip the workpiece with a predetermined force.
  • the gripper 121 of the second robot arm 120 releases the workpiece 10, and the workpiece 10 is carried to the place area while being held by the gripper 111 of the first robot arm 110, where it is transferred to the mounting base 2. It is assembled at a predetermined position. Conversely, the gripper 111 can be released, transported by the gripper 121 of the second robot arm 120, and assembled.
  • the mounting surface in that case also has the advantage that the front and back surfaces of the workpiece 10 are reversed.
  • the first robot arm 110 is operated, and the workpiece 10 is gripped and picked up by the gripper 111 in an appropriate direction (S2).
  • the first robot arm 110 is turned to face the second robot arm 120 (S3).
  • the grippers 111 and 121 hold the workpiece 10 so as to have orthogonal side surfaces.
  • the gripper 121 of the second robot arm 120 is operated to clamp the work 10 from both sides.
  • the object of the workpiece 10 has been described by limiting the horizontal and vertical orientations.
  • the direction can be changed by 90 degrees, that is, the gripper 111 of the first robot arm 110 when facing. May grip the vertical side surface of the workpiece 10 and the gripper 121 of the second robot arm 120 may grip the horizontal side surface of the workpiece 10.
  • the gripping mechanism may be an electric or air drive type.
  • the robot arm has been described as being independent, it can also be constituted by a single-arm robot.
  • explanations of the robot drive devices (controllers) are omitted, general configurations may be used.
  • the compliance mechanism it is desirable to refer to Japanese Patent Application Laid-Open No. 2015-3361 to 3363 by the applicant of the present application.
  • the gripper of the present application is composed of a pair of fingers, it may have fingers in addition to the two fingers. As such, various design additions and modifications may be possible but should be understood to fall within the scope of the present invention.
  • the shape of the workpiece is limited to a rectangular parallelepiped, but of course, the present invention can be implemented even in a cubic shape, which is useful in various production processes for handling such a rectangular workpiece.

Abstract

Provided are a workpiece gripping device and a workpiece gripping method. The workpiece gripping device comprises: a first robot arm (110) having, at the leading end thereof, a gripper (111) composed of a pair of fingers (111-1, 111-2); and a second robot arm (120) having, at the leading end thereof, a gripper (121) composed of a pair of fingers (121-1, 121-2). In the workpiece gripping device: the first robot arm grips, by means of the gripper thereof, one pair of opposed lateral surfaces of a rectangular-parallelepiped-shaped workpiece (10); the second robot arm that is set at a position facing the first robot arm grips, by means of the gripper thereof, another pair of opposed lateral surfaces, of the workpiece, perpendicular to the one pair of respective opposed lateral surfaces; and, as a result of the other pair of opposed lateral surfaces being sandwiched and pressed by the gripper of the second robot arm, the workpiece slides to such a position that the gripper of the first robot arm grips the center point of the workpiece.

Description

ワーク把持装置およびワーク把持方法Work gripping device and work gripping method
　この発明は、組み立て作業工程におけるロボットのワーク把持装置の技術に関する。 The present invention relates to a technology of a robot workpiece gripping device in an assembly work process.
　双腕ロボットを用いてワークをワークストッカから引出し、その時に位置ずれがあるかどうかロボットアームを持ち替えることで確認し、トレーに搬送している従来例がある（特許文献１）。この発明では、ワークをセンサの付いた双腕による２点接触で引出時の位置ずれ量を検出し、目標位置を修正していた。 There is a conventional example where a double-arm robot is used to pull out a workpiece from the work stocker, and then check if there is a positional shift by moving the robot arm and transfer it to a tray (Patent Document 1). In the present invention, the amount of positional deviation at the time of drawing is detected by two-point contact with a double arm with a sensor, and the target position is corrected.
　また、特許文献２の発明は、トレー上に載置された部品を把持して精密な移載や組立を行うときに、トレーに撓みが生じていたとしても、再現性高く部品を把持する。これはロボットハンドをトレーに突き当てて、架台にトレーを押し付けるようロボット本体を動作させて、このトレーを架台に押し付けた状態で、トレーに載置されたワークを複数のフィンガーに把持させている。 Further, the invention of Patent Document 2 grips a component with high reproducibility even when the tray is bent when the component placed on the tray is gripped to perform precise transfer or assembly. This is because the robot body is operated so that the robot hand abuts the tray and presses the tray against the gantry, and the work placed on the tray is gripped by a plurality of fingers while the tray is pressed against the gantry. .
　さらに、特許文献３の発明では。組付部品の基準位置に対してロボットハンドの把持位置が多少ずれている場合であっても、そのまま組付本体に対して組付部品の組付けを行うことのできる産業用ロボットを提供する。上記目的を達成するために、ロボットハンドで組付部品を把持したときに、組付部品の基準位置に対するロボットハンドのずれ量を検出し、この検出したずれ量に基いてロボットハンドの位置補正を行って、組付本体に対する組付部品の組付を行う。 Furthermore, in the invention of Patent Document 3. Provided is an industrial robot capable of assembling an assembling part to an assembling body as it is even when the gripping position of the robot hand is slightly deviated from the reference position of the assembling part. In order to achieve the above object, when the assembly part is gripped by the robot hand, the amount of deviation of the robot hand from the reference position of the assembly part is detected, and the position correction of the robot hand is performed based on the detected amount of deviation. Go and assemble the assembly parts to the assembly body.
特開２０１２－１９６７６８号公報JP 2012-196768 A 特開２０１５－２０５３６８号公報Japanese Patent Laying-Open No. 2015-205368 特開平０７－８８７９４号公報Japanese Patent Application Laid-Open No. 07-88794
　特許文献１にある搬送作業では、ワークストッカに整列されているワークをワークから見て横方向からワークとロボットの手先面が平行にあるように引き出す。そのため、ワークに対して把持する位置はほぼ一定であり、どのワークも床面に対して垂直の軸方向の位置は初めから決まっている。しかし、組み立て作業においては、ワークは一定方向から取り出すばかりでなく、組み立て方向によってはワークから見て上方から取り出す必要がある。この場合、把持面と床面に対し平行な軸のワークを把持する位置は一定とは限らない。 In the transfer work described in Patent Document 1, the work aligned in the work stocker is pulled out from the side so that the work and the hand surface of the robot are parallel to each other when viewed from the work. Therefore, the position gripped with respect to the workpiece is substantially constant, and the position of any workpiece in the axial direction perpendicular to the floor surface is determined from the beginning. However, in the assembling operation, the workpiece is not only taken out from a certain direction, but depending on the assembling direction, it is necessary to take it out from above as seen from the workpiece. In this case, the position for gripping a workpiece having an axis parallel to the gripping surface and the floor surface is not always constant.
　また、特許文献２の発明では、トレーは、部品が載置される載置部と、前記載置部に突出して形成された突出部とを有しており、押付工程では、制御部が、前記ハンド本体を前記突出部に突き当てて、架台にトレーを押し付けるよう前記ロボット本体を動作させることができるので、所謂ガイドが設けられているため、ワークの把持位置決めにはさほど神経を使う必要はなかった。また、特許文献３の発明では、本ロボットは、ロボットハンドに、組付部品の基準位置のずれ量を検出する位置検出装置(センサ)を備える必要があり、装置として大規模で精緻な必要がある。 Further, in the invention of Patent Document 2, the tray has a placement portion on which the component is placed, and a protrusion formed to protrude from the placement portion. In the pressing step, the control portion is Since the robot body can be operated so that the hand body abuts against the protrusion and the tray is pressed against the gantry, so-called guides are provided, so it is not necessary to use a lot of nerves for gripping and positioning the workpiece. There wasn't. In the invention of Patent Document 3, the robot needs to be provided with a position detection device (sensor) for detecting the amount of deviation of the reference position of the assembled part in the robot hand, and the device needs to be large-scale and elaborate. is there.
　本願発明は、上方からワークを把持するにつき、ガイド等は必要なく、一度床置きするなどしてもう一度ワークを把持するなどの余計なステップを経ることもなく、また、特別な位置センサを設ける必要もなく、ワークの組み立て作業が効率良く行えることを課題とする。 The present invention does not require a guide or the like for gripping a workpiece from above, does not require extra steps such as once placing the workpiece on the floor and gripping the workpiece again, and requires a special position sensor. There is no problem, and it is an object to be able to efficiently assemble the work.
　本願発明は、一対のフィンガーからなるグリッパを先端に有する第１のロボットアームと、
一対のフィンガーからなるグリッパを先端に有する第２のロボットアームと、からなるワーク把持装置において、
前記第１のロボットアームはそのグリッパで直方体形状のワークの一の対側面を把持し、
並びに、前記第１のロボットアームと対向する位置にセットされた前記第２のロボットアームはそのグリッパで前記ワークの前記対側面に直交する別の対側面を把持し、
前記第２のロボットアームが前記グリッパで前記別の対側面を挟圧することで、前記第１のロボットアームの前記グリッパが前記ワークの中心点を把持する位置まで、前記ワークが摺動することを特徴とするワーク把持装置である。 The present invention provides a first robot arm having a gripper formed of a pair of fingers at the tip,
In a work gripping device comprising a second robot arm having a gripper made of a pair of fingers at the tip,
The first robot arm grips one side of a rectangular parallelepiped workpiece with its gripper,
And the second robot arm set at a position facing the first robot arm grips another opposite side surface of the workpiece orthogonal to the opposite side surface with its gripper,
The workpiece slides to a position where the gripper of the first robot arm grips the center point of the workpiece by the second robot arm pinching the other opposite side with the gripper. This is a workpiece gripping device.
　本願発明は、さらに、
前記第１のロボットアーム又は前記第２のロボットアームを操作して、
一方のロボットアームから前記ワークをリリースして、
他方のロボットアームにより前記ワークを把持したまま所定の載置位置まで移動させ、
載置ベースに組み付けるワーク把持装置である。 The present invention further provides:
Operate the first robot arm or the second robot arm,
Release the workpiece from one robot arm,
Move the workpiece to a predetermined placement position while holding the workpiece by the other robot arm,
A workpiece gripping device to be assembled to a mounting base.
　また、本願発明は、一対のフィンガーからなるグリッパを先端に有する第１のロボットアームと、
一対のフィンガーからなるグリッパを先端に有する第２のロボットアームと、からなるワーク把持装置におけるワーク把持方法であって、
第１のロボットアームを操作してワークを把持するステップと、
前記第１のロボットアームと第２のロボットアームを其々のグリッパが前記ワークの直交する側面を把持するように対峙するステップと、
前記第２のロボットアームの前記グリッパで前記ワークを挟圧して、前記第１のロボットアームの前記グリッパが前記ワークの中心点を把持するまで前記ワークを摺動させるステップと、を備えるワーク把持方法である。 The present invention also includes a first robot arm having a gripper formed of a pair of fingers at the tip,
A work gripping method in a work gripping device comprising a second robot arm having a gripper composed of a pair of fingers at the tip,
Operating the first robot arm to grip the workpiece;
Facing the first robot arm and the second robot arm so that each gripper grips an orthogonal side surface of the workpiece;
Clamping the workpiece with the gripper of the second robot arm, and sliding the workpiece until the gripper of the first robot arm grips the center point of the workpiece. It is.
　本願発明は、二つのロボットアームによる構成だけで実施できるので簡便なシステムで高い効果を奏する。常にワークの中心を把持できるように、二つのロボットアームでワークを持ち替えて当該位置を修正するので後工程に負担がなく、タクトタイムが短い。 Since the present invention can be implemented with only two robot arms, it is highly effective with a simple system. In order to always hold the center of the work, the work is moved by two robot arms and the position is corrected, so that there is no burden on the subsequent process and the tact time is short.
本願発明の実施の形態にかかるワーク把持装置の全体構成を示す。1 shows an overall configuration of a workpiece gripping apparatus according to an embodiment of the present invention. 本願発明の対象とするワークの形状と側面呼称を示す。The shape of the workpiece and the side designation will be shown. 図３Ａおよび図３Ｂは、本願発明の実施の形態にかかる第１のロボットアームのグリッパによるワークのピックアップ態様を示す。3A and 3B show a workpiece pick-up mode by the gripper of the first robot arm according to the embodiment of the present invention. 本願発明の実施の形態にかかる第１のロボットアームと第２のロボットアームの其々のグリッパによる持ち替え態様を示す。The change mode by the grippers of the first robot arm and the second robot arm according to the embodiment of the present invention is shown. 図５Ａ、図５Ｂおよび図５Ｃは、図４に示す第１のロボットアームと第２のロボットアームにおける持ち替え工程のトップビュー（上面図）を示す遷移図。5A, FIG. 5B, and FIG. 5C are transition diagrams showing a top view (top view) of a change-over process in the first robot arm and the second robot arm shown in FIG. 本願発明の実施の形態にかかるワーク把持方法のフローを示す。The flow of the workpiece | work holding | grip method concerning embodiment of this invention is shown.
（１）全体構成とワークについて
　まず、図１はこの発明の一実施の形態を示すワーク把持装置１００の全体構成を示す。中心的に第１のロボットアーム１１０と第２のロボットアーム１２０がある。そして、ピックアップエリアと記されたところのトレー１の上に直方体形状のワーク１０が複数ランダムに置かれている。一方、プレイスエリアと記されたところには、載置ベース２の上に、ワークが定められた位置に整然と載置されている様を示している。 (1) Overall Configuration and Workpiece First, FIG. 1 shows an overall configuration of a workpiece gripping apparatus 100 showing an embodiment of the present invention. There are a first robot arm 110 and a second robot arm 120 at the center. A plurality of rectangular parallelepiped workpieces 10 are randomly placed on the tray 1 marked as a pickup area. On the other hand, where the place area is described, it is shown that the work is placed on the placement base 2 in an orderly manner at a predetermined position.
　このワーク１０をピックアップエリアからプレイスエリアに移動させるのが、第１のロボットアーム１１０と第２のロボットアーム１２０の役目である。それらその先端に、少なくとも二本(一対)のフィンガーからなるグリッパ１１１とグリッパ１２１が備えられている。第１のロボットアーム１１０と第２のロボットアーム１２０は、６軸自由度のロボットで構成されるのが好ましいが、受け側である第２のロボットアーム１２０の方はそこまでの自由度は持たなくともよい。本願発明の機能を果たすためには一軸だけの自由度（グリッパの挟持可動だけ）程度でも十分である。 It is the role of the first robot arm 110 and the second robot arm 120 to move the workpiece 10 from the pickup area to the place area. A gripper 111 and a gripper 121 each including at least two (a pair) fingers are provided at the tip thereof. The first robot arm 110 and the second robot arm 120 are preferably composed of a robot with six axes of freedom, but the second robot arm 120 on the receiving side has a degree of freedom up to that point. Not necessary. In order to fulfill the functions of the present invention, a degree of freedom of only one axis (only gripping and gripping of the gripper) is sufficient.
　次に図２を基に、ワーク１０について説明する。ワーク１０は直方体形状をなすものを対象とする。本例では、表面（Ｓｕｒｆａｃｅ）１０Ａ、底面（Ｂｏｔｔｏｍ）１０Ｂ、そして側面を１０Ｃ，１０Ｄ，１０Ｅ，１０Ｆと反時計回りに称するので、その表記を付記している。対向する各面の中心を結んだ点線の交差点にワーク１０の中心点Ｐをイメージするように示している。 Next, the workpiece 10 will be described with reference to FIG. The workpiece 10 is intended for a rectangular parallelepiped shape. In this example, the front surface (Surface) 10A, the bottom surface (Bottom) 10B, and the side surfaces are referred to as 10C, 10D, 10E, and 10F in the counterclockwise direction. The center point P of the workpiece 10 is imaged at the intersection of dotted lines connecting the centers of the opposing surfaces.
　以降の実施例では、一の対側面（１０Ｃと１０Ｅ）が第１のロボットアーム１１０のグリッパ１１１で把持され、直交する別の対側面（１０Ｄと１０Ｆ）が第２のロボットアーム１２０のグリッパ１２１で把持されることになる。なお、表面１０Ａの向きを表すために、図中には表面１０Ａの縁部に二重線でマーキングしている。 In the following embodiments, one opposite side surface (10C and 10E) is gripped by the gripper 111 of the first robot arm 110, and another opposite side surface (10D and 10F) is the gripper 121 of the second robot arm 120. It will be gripped by. In addition, in order to represent the direction of the surface 10A, the edge of the surface 10A is marked with a double line in the drawing.
（２）実施例
　まず図３では、本例の最初の工程として、第１のロボットアーム１１０を適宜旋回させて、そのグリッパ１１１でトレー１上のワーク１０をピックアップする。左側図３Ａで示すように、ワーク１０の一の対側面（１０Ｃと１０Ｅ）をグリッパ１１１（フィンガー１１１－１と１１１－２）で把持する。軽く把持したのち、図３Ｂに示すように、グリッパ１１１をワーク１０の下方に押し付ける弾性機能（図外）を以て、ワーク１０を十分に把持する。本弾性機能は所定のコンプライアンス機構を意味し、パッシブでもアクティブでもよく、グリッパには当然備え付けられるものであるので、これ以上その機能の説明は省略する。なお、このときの把持機構は、ロボットの視覚機能（図外ビジョンシステム）を利用するもので、ワーク１０の向きに合わせ、ほぼ中央をつかむことができるが、組み立て作業としては精度が十分ではなく、ズレが生じる可能性がある (2) Embodiment First, in FIG. 3, as the first step in this embodiment, the first robot arm 110 is appropriately turned and the workpiece 10 on the tray 1 is picked up by the gripper 111. As shown in FIG. 3A on the left side, one side surface (10C and 10E) of the workpiece 10 is held by the gripper 111 (finger 111-1 and 111-2). After lightly grasping, as shown in FIG. 3B, the work 10 is sufficiently grasped by an elastic function (not shown) that presses the gripper 111 below the work 10. This elastic function means a predetermined compliance mechanism, which may be passive or active, and is naturally provided in the gripper. Therefore, further description of the function is omitted. The gripping mechanism at this time uses the visual function of the robot (unillustrated vision system), and can be held almost at the center according to the orientation of the workpiece 10, but the accuracy is not sufficient for assembly work. , There is a possibility of deviation
　次に、第１のロボットアーム１１０を起き上がらせて、対向する位置にセットされている第２のロボットアーム１２０に対峙させるので、その態様を図４で示す。本図はサイドビューである。そもそも、第１のロボットアーム１１０と第２のロボットアーム１２０はその中心軸は、図４中の一点鎖線で標すように一致させることは機構的に行えるものであって、そのようなロボットの位置決めはコントローラ（図外）により行われる。そして、第２のロボットアーム１２０はワーク１０の別の対側面（１０Ｄと１０Ｆ）をグリッパ１２１（フィンガー１２１－１と１２１－２）で把持する。このとき、もしも既にグリッパ１１１が正確にワーク１０の中心点Ｐを掴んでいたなら、本願発明の効果は小さいが、逆にそうでない場合に、次に述べるような機能が発揮される。 Next, the first robot arm 110 is raised to face the second robot arm 120 set at the opposite position, and the mode is shown in FIG. This figure is a side view. In the first place, the central axes of the first robot arm 110 and the second robot arm 120 can be mechanically matched so as to be indicated by the one-dot chain line in FIG. Positioning is performed by a controller (not shown). Then, the second robot arm 120 grips another side surface (10D and 10F) of the workpiece 10 with the gripper 121 (finger 121-1 and 121-2). At this time, if the gripper 111 has already accurately grasped the center point P of the workpiece 10, the effect of the present invention is small, but conversely, the function described below is exhibited when it is not.
（３）本願発明の主機能
　図５は図４の構成を上方から観たトップビューを示すものであって、本願発明の実施の形態にかかる第１のロボットアーム１１０と第２のロボットアーム１２０の其々のグリッパによる持ち替えにかかる第２のロボットアーム１２０のグリッパ１２１による挟圧工程を図５Ａ，ＢおよびＣで順次示す遷移図である。 (3) Main functions of the present invention FIG. 5 shows a top view of the configuration of FIG. 4 as viewed from above. The first robot arm 110 and the second robot arm 120 according to the embodiment of the present invention are shown in FIG. 5A, 5B, and 5C are transition diagrams sequentially showing a pinching process by the gripper 121 of the second robot arm 120 according to the changeover by each gripper.
　まず、上段の図５Ａでは、第１のロボットアーム１１０のグリッパ１１１はワークの中心点ＰからΔずれたところを把持しているとする。第２のロボットアーム１２０のグリッパ１２１の両フィンガー１２１－１と１２１－２の開度Ｌはある程度余裕をもって、ワーク１０の側面１０Ｃの長尺を包含するように十分広い。本図５Ａの例では、フィンガー１２１－１は側面１０Ｄに近接しているが、もう一方のフィンガー１２１－２は側面１０Ｆからかなり離隔している。なお、グリッパ１２１のフィンガー開度Ｌは、次数式（１）であればよい。
開度Ｌ　＞＝（ワーク１０の長尺＋２＊Δｍａｘ）　　・・・・・（１） First, in FIG. 5A in the upper stage, it is assumed that the gripper 111 of the first robot arm 110 is gripping a position that is deviated by Δ from the center point P of the workpiece. The opening L of both fingers 121-1 and 121-2 of the gripper 121 of the second robot arm 120 is sufficiently wide to include the long side 10C of the workpiece 10 with some margin. In the example of FIG. 5A, the finger 121-1 is close to the side surface 10D, while the other finger 121-2 is considerably separated from the side surface 10F. In addition, the finger opening degree L of the gripper 121 should just be following Numerical formula (1).
Opening L> == (long length of the workpiece 10 + 2 * Δ max ) (1)
　続いて、中段の図５Ｂでは、徐々にグリッパ１２１が閉じられていく様子を示す。ここで、グリッパ１２１は両側フィンガーから均等な力で挟み込みを行う。図５Ｂで、グリッパ１２１のフィンガー１２１－１はワーク１０の側面１０Ｄに当接する。一方のフィンガー１２１－２はもう一方の側面１０Ｆに近づくがまだ離隔している。 Subsequently, FIG. 5B in the middle stage shows a state in which the gripper 121 is gradually closed. Here, the gripper 121 is pinched with equal force from both side fingers. In FIG. 5B, the finger 121-1 of the gripper 121 contacts the side surface 10D of the workpiece 10. One finger 121-2 approaches the other side surface 10F but is still separated.
　そして、さらにグリッパ１２１が閉じられていく様子を最下段の図５Ｃは示す。グリッパ１２１のフィンガー１２１－１は、他方のフィンガー１２１－２が側面１０Ｆに当接するまで、ワーク１０の側面１０Ｄを押し、挟み込む。このとき、第１のロボットアーム１１０のグリッパ１１１の把持力は少し緩めておいて、ワーク１０をフィンガー１１１－１および１１１－２の内腹で摺動させる。本フィンガーの内腹は摩擦係数が適当に小さい材質を選択する。 Further, FIG. 5C in the lowermost stage shows how the gripper 121 is further closed. The finger 121-1 of the gripper 121 pushes and sandwiches the side surface 10D of the workpiece 10 until the other finger 121-2 contacts the side surface 10F. At this time, the gripping force of the gripper 111 of the first robot arm 110 is slightly relaxed, and the workpiece 10 is slid on the inner side of the fingers 111-1 and 111-2. A material with an appropriately small coefficient of friction is selected for the inner side of the finger.
　こうして、グリッパ１２１の挟圧力によって、ワーク１０はその位置を修正されるので、第１のロボットアーム１１０のグリッパ１１１は、ワーク１０の中心点Ｐをグリッパ自体の中央で正しく把持するようになる。なお、グリッパ１２１はグリッパ１１１と同様に所定の弾性機能（コンプライアンス）を備えることで、所定の力でワークを把持することは言うまでもない。 Thus, since the position of the workpiece 10 is corrected by the clamping force of the gripper 121, the gripper 111 of the first robot arm 110 correctly grips the center point P of the workpiece 10 at the center of the gripper itself. Needless to say, the gripper 121 is provided with a predetermined elastic function (compliance) like the gripper 111 so as to grip the workpiece with a predetermined force.
　その後に、第２のロボットアーム１２０のグリッパ１２１はワーク１０をリリースして、ワーク１０は第１のロボットアーム１１０のグリッパ１１１で把持されたまま、プレイスエリアまで運ばれ、そこで載置ベース２に所定の位置で組み付けられる。逆に、グリッパ１１１をリリースして、第２のロボットアーム１２０のグリッパ１２１で搬送し、組み付けることも可能である。その場合の載置面は、ワーク１０の表裏面が反転する利点もある。 Thereafter, the gripper 121 of the second robot arm 120 releases the workpiece 10, and the workpiece 10 is carried to the place area while being held by the gripper 111 of the first robot arm 110, where it is transferred to the mounting base 2. It is assembled at a predetermined position. Conversely, the gripper 111 can be released, transported by the gripper 121 of the second robot arm 120, and assembled. The mounting surface in that case also has the advantage that the front and back surfaces of the workpiece 10 are reversed.
（４）ワーク把持方法フロー
　次に、本方法を、図６のフローチャートに基づいて説明する。
　本機能の呼び出しでＳｔａｒｔする。最初のステップ１で、システムのセットアップとして、各ロボットアーム１１０，１２０、グリッパ１１１，１２１の位置、開度等の調整、およびワーク１０の準備などを行う（Ｓ１）。 (4) Work Gripping Method Flow Next, this method will be described based on the flowchart of FIG.
Start by calling this function. In the first step 1, as the system setup, adjustments of the positions and opening degrees of the robot arms 110 and 120 and grippers 111 and 121, preparation of the workpiece 10 and the like are performed (S1).
　次に、第１のロボットアーム１１０を操作して、そのグリッパ１１１でワーク１０を適当な方向、位置で把持してピックアップする（Ｓ２）。 Next, the first robot arm 110 is operated, and the workpiece 10 is gripped and picked up by the gripper 111 in an appropriate direction (S2).
　そして、ワーク１０を把持したまま、第１のロボットアーム１１０を旋回させて、第２のロボットアーム１２０と対峙させる（Ｓ３）。このときグリッパ１１１，１２１は直交する側面を持つようにしてワーク１０を持ち合う。 Then, while holding the workpiece 10, the first robot arm 110 is turned to face the second robot arm 120 (S3). At this time, the grippers 111 and 121 hold the workpiece 10 so as to have orthogonal side surfaces.
　次に、前述図５とその説明で述べたとおり、第２のロボットアーム１２０のグリッパ１２１を操作して、ワーク１０を両側から挟圧する。これにより、ワーク１０の中心点を第１のみならず第２の双方のロボットアームのグリッパが把持することになる（Ｓ４）。 Next, as described in FIG. 5 and the description thereof, the gripper 121 of the second robot arm 120 is operated to clamp the work 10 from both sides. As a result, the gripper of both the robot robot arms as well as the first grips the center point of the workpiece 10 (S4).
　最後に、片方のロボットアームのグリッパを開放（リリース）して、他方のロボットアームのグリッパを操作して、プレイスエリアにある所定の載置ベース２にワーク１０を組み付ける（Ｓ５）。以上で、基本的な工程は終了である。 Finally, the gripper of one robot arm is released (released), the gripper of the other robot arm is operated, and the workpiece 10 is assembled to the predetermined placement base 2 in the place area (S5). This is the end of the basic process.
（５）その他の実施例
　本例では、ワーク１０の対象物を水平垂直の方位を限って説明したが、その向きは９０度変更可能で、すなわち、対峙時に第１のロボットアーム１１０のグリッパ１１１がワーク１０の垂直方向側面を把持し、第２のロボットアーム１２０のグリッパ１２１がワーク１０の水平方向側面を把持するようにしてもよい。 (5) Other Embodiments In this example, the object of the workpiece 10 has been described by limiting the horizontal and vertical orientations. However, the direction can be changed by 90 degrees, that is, the gripper 111 of the first robot arm 110 when facing. May grip the vertical side surface of the workpiece 10 and the gripper 121 of the second robot arm 120 may grip the horizontal side surface of the workpiece 10.
　把持機構は、電動のまたは空気の駆動タイプであってもよい。また、ロボットアームは独立的なもので説明したが、双腕のロボット１機で構成することも可能である。その他、ロボットの駆動装置(コントローラ)類は説明を省いたが一般的な構成で構わない。ただし、コンプライアンス機構については、本願の出願人による特開２０１５－３３６１乃至３３６３号公報を参考にすることが望まれる。 The gripping mechanism may be an electric or air drive type. Although the robot arm has been described as being independent, it can also be constituted by a single-arm robot. In addition, although explanations of the robot drive devices (controllers) are omitted, general configurations may be used. However, regarding the compliance mechanism, it is desirable to refer to Japanese Patent Application Laid-Open No. 2015-3361 to 3363 by the applicant of the present application.
　本願のグリッパは一対のフィンガーからなるとしたが、その二本のフィンガー以外にもフィンガーを有してもよいものである。そのように、各種の設計的な付加変形は可能であろうが、そうしたとしても、本願発明の範囲に属すると理解すべきである。 Although the gripper of the present application is composed of a pair of fingers, it may have fingers in addition to the two fingers. As such, various design additions and modifications may be possible but should be understood to fall within the scope of the present invention.
　ワークの形状を直方体にかぎったが、もちろん立方体形状でも本願発明は実施可能で、そのような矩形形状のワークを取り扱う各種の生産工程で有益である。 The shape of the workpiece is limited to a rectangular parallelepiped, but of course, the present invention can be implemented even in a cubic shape, which is useful in various production processes for handling such a rectangular workpiece.
１　トレー
２　載置ベース
１０　ワーク
１０Ａ，Ｂ，Ｃ，Ｄ，Ｅ，Ｆ　ワーク面
１００　ワーク把持装置
１１０、１２０　ロボットアーム
１１１，１２１　グリッパ
　１１１－１，２、１２１－１，２　フィンガー 1 Tray 2 Placement base 10 Work 10A, B, C, D, E, F Work surface 100 Work gripping device 110, 120 Robot arm 111, 121 Gripper 111-1, 2, 121-1, 2 Finger

Claims (3)

  1. 　一対のフィンガーからなるグリッパを先端に有する第１のロボットアームと、
    　一対のフィンガーからなるグリッパを先端に有する第２のロボットアームと、からなるワーク把持装置において、
    　前記第１のロボットアームはそのグリッパで直方体形状のワークの一の対側面を把持し、並びに、前記第１のロボットアームと対向する位置にセットされた前記第２のロボットアームはそのグリッパで前記ワークの前記対側面に直交する別の対側面を把持し、
    　前記第２のロボットアームが前記グリッパで前記別の対側面を挟圧することで、前記第１のロボットアームの前記グリッパが前記ワークの中心点を把持する位置まで、前記ワークが摺動することを特徴とするワーク把持装置。     A first robot arm having a gripper consisting of a pair of fingers at its tip;
    In a work gripping device comprising a second robot arm having a gripper made of a pair of fingers at the tip,
    The first robot arm grips one side of a rectangular parallelepiped workpiece with its gripper, and the second robot arm set at a position facing the first robot arm is the gripper with the gripper. Grip another side of the workpiece perpendicular to the side of the workpiece,
    The workpiece slides to a position where the gripper of the first robot arm grips the center point of the workpiece by the second robot arm pinching the other opposite side with the gripper. Feature workpiece gripping device.
  2. 　請求項１に記載のワーク把持装置において、さらに、
    　前記第１のロボットアーム又は前記第２のロボットアームを操作して、
    　一方のロボットアームから前記ワークをリリースして、
    　他方のロボットアームにより前記ワークを把持したまま所定の載置位置まで移動させ、
    載置ベースに組み付けるワーク把持装置。     The workpiece gripping device according to claim 1, further comprising:
    Operate the first robot arm or the second robot arm,
    Release the workpiece from one robot arm,
    Move the workpiece to a predetermined placement position while holding the workpiece by the other robot arm,
    Work gripping device assembled to the mounting base.
  3. 　一対のフィンガーからなるグリッパを先端に有する第１のロボットアームと、
    　一対のフィンガーからなるグリッパを先端に有する第２のロボットアームと、からなるワーク把持装置におけるワーク把持方法であって、
    　前記第１のロボットアームを操作してワークを把持するステップと、
    　前記第１のロボットアームと前記第２のロボットアームを其々のグリッパが前記ワークの直交する側面を把持するように対峙するステップと、
    　前記第２のロボットアームの前記グリッパで前記ワークを挟圧して、前記第１のロボットアームの前記グリッパが前記ワークの中心点を把持するまで前記ワークを摺動させるステップと、
    を備えるワーク把持方法。     A first robot arm having a gripper consisting of a pair of fingers at its tip;
    A work gripping method in a work gripping device comprising a second robot arm having a gripper composed of a pair of fingers at the tip,
    Operating the first robot arm to grip a workpiece;
    Facing the first robot arm and the second robot arm so that each gripper grips an orthogonal side surface of the workpiece;
    Clamping the workpiece with the gripper of the second robot arm and sliding the workpiece until the gripper of the first robot arm grips the center point of the workpiece;
    A workpiece gripping method comprising:
PCT/JP2017/017163 2016-05-27 2017-05-01 Workpiece gripping device and workpiece gripping method WO2017203945A1 (en)

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